41 citations · 109 across the 16 of their papers we have counts for
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cs.RO2019
Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control
Kevin Haninger, Abner Asignacion, Sehoon Oh
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturban…
cs.RO2019★ 1 cited
Nonparametric Inverse Dynamic Models for Multimodal Interactive Robots
Kevin Haninger, Masayoshi Tomizuka
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port var…